rail_pick_and_place_msgs¶

Message types¶

• rail_pick_and_place_msgs/GraspWithSuccessRate
• rail_pick_and_place_msgs/GraspModel
• rail_pick_and_place_msgs/GraspDemonstration

rail_pick_and_place_msgs/GraspWithSuccessRate¶

Field:	id (uint32) – grasp (rail_manipulation_msgs/Grasp) – created (time) –

uint32 id                             # The ID of the grasp demonstration used in the graspdb
rail_manipulation_msgs/Grasp grasp    # The grasp information
time created                          # The time of creation for the grasp demonstration

rail_pick_and_place_msgs/GraspModel¶

Field:	id (uint32) – object_name (string) – grasps[] (rail_pick_and_place_msgs/GraspWithSuccessRate) – point_cloud (sensor_msgs/PointCloud2) – created (time) –

uint32 id                            # The ID of the model
string object_name                   # The name of the object (non-unique)
GraspWithSuccessRate[] grasps        # The grasps associated with this model
sensor_msgs/PointCloud2 point_cloud  # The point cloud data for the model
time created                         # The time of creation for the model

rail_pick_and_place_msgs/GraspDemonstration¶

Field:	id (uint32) – object_name (string) – grasp_pose (geometry_msgs/PoseStamped) – eef_frame_id (string) – point_cloud (sensor_msgs/PointCloud2) – image (sensor_msgs/Image) – created (time) –

uint32 id                             # The ID of the grasp demonstration
string object_name                    # The name of the object that was grasped
geometry_msgs/PoseStamped grasp_pose  # The pose of the grasp in reference to the robot's fixed frame
string eef_frame_id                   # The name of the robot's end effector frame that this grasp was collected from
sensor_msgs/PointCloud2 point_cloud   # The segmented object point cloud
sensor_msgs/Image image               # The segmented object image
time created                          # The time of creation for the grasp demonstration

Service types¶

• rail_pick_and_place_msgs/RemoveObject

rail_pick_and_place_msgs/RemoveObject¶

Field (Request):
	index (uint32) –

uint32 index  # Index of object to be removed
---
# Empty response

Action types¶

• rail_pick_and_place_msgs/GenerateModels
• rail_pick_and_place_msgs/RetrieveGraspDemonstration
• rail_pick_and_place_msgs/RetrieveGraspModel
• rail_pick_and_place_msgs/TrainMetrics
• rail_pick_and_place_msgs/GraspAndStore
• rail_pick_and_place_msgs/GetYesNoFeedback

rail_pick_and_place_msgs/GenerateModels¶

Field (Goal):	grasp_demonstration_ids[] (uint32) – grasp_model_ids[] (uint32) – max_model_size (uint32) –
Field (Result):	new_model_ids[] (uint32) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
uint32[] grasp_demonstration_ids  # The IDs of the grasp demonstrations to use
uint32[] grasp_model_ids          # The IDs of the existing grasp models to use
uint32 max_model_size             # The maximum number of grasps per model allowed
---
# Define the result
uint32[] new_model_ids            # The IDs of the newly constructed models
---
# Define feedback message
string message                    # The current state message

rail_pick_and_place_msgs/RetrieveGraspDemonstration¶

Field (Goal):	id (uint32) –
Field (Result):	success (bool) – grasp (rail_pick_and_place_msgs/GraspDemonstration) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
uint32 id                 # The ID of the grasp demonstration to retrieve
---
# Define the result
bool success              # If the grasp retrieval was successful
GraspDemonstration grasp  # The grasp demonstration information
---
# Define a feedback message
string message            # The current state message

rail_pick_and_place_msgs/RetrieveGraspModel¶

Field (Goal):	id (uint32) –
Field (Result):	success (bool) – grasp_model (rail_pick_and_place_msgs/GraspModel) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
uint32 id               # The ID of the grasp model to retrieve
---
# Define the result
bool success            # If the grasp model retrieval was successful
GraspModel grasp_model  # The grasp model information
---
# Define a feedback message
string message          # The current state message

rail_pick_and_place_msgs/TrainMetrics¶

Field (Goal):	object_name (string) –
Field (Result):	success (bool) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
string object_name  # The name of the object
---
# Define the result
bool success        # If the training was successful
---
# Define feedback message
string message      # The current state message

rail_pick_and_place_msgs/GraspAndStore¶

Field (Goal):	lift (bool) – verify (bool) – object_name (string) –
Field (Result):	id (uint32) – success (bool) –
Field (Feedback):
	message (string) –

Define the goal

# Define the goal
bool lift           # If a lift request should be sent after grasping the object
bool verify         # If a grasp verification request should be sent after grasping the object
string object_name  # The unique name of the object you are picking up
---
# Define the result
uint32 id           # The ID of the stored grasp entity in the database, or 0 if the store was unsuccessful
bool success        # If the grasp and store was successful
---
# Define a feedback message
string message      # The current state message

rail_pick_and_place_msgs/GetYesNoFeedback¶

Field (Result):	yes (bool) –

# Define the goal
---
# Define the result
bool yes  # True = yes, false = no
---
# Define a feedback message